US9021712B2 - Autonomous system and method for determining information representative of the movement of an articulated chain - Google Patents

Autonomous system and method for determining information representative of the movement of an articulated chain Download PDF

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Publication number
US9021712B2
US9021712B2 US13/001,358 US200913001358A US9021712B2 US 9021712 B2 US9021712 B2 US 9021712B2 US 200913001358 A US200913001358 A US 200913001358A US 9021712 B2 US9021712 B2 US 9021712B2
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articulated chain
articulation
devices
disp
measuring devices
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US20110173831A1 (en
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Yanis Caritu
Christelle Godin
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Movea SA
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
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Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis

Definitions

  • the invention relates to an autonomous system and method for determining items of information representative of the movement of an articulated chain.
  • Capturing movement of an articulated chain is a technique used in many applications, for example biomechanical analysis, remote manipulation, animation of virtual people, or man-machine interfaces by gesture in which the articulated chain is usually an upper limb comprising an arm, a forearm and a hand.
  • the systems based on electromagnetism reconstruct the angles and the positions of the sensors placed on the object.
  • the ultrasound systems like the optical systems, find the positions of the emitters. These two technologies suffer from the same limitation in space as the camera-based systems.
  • exoskeletons which use a reconstruction of the movement based on measurements of angles taken by angle sensors placed at the articulations.
  • These devices make it possible to dispense with the spatial limitation of the movement capture.
  • these devices are constricting because they comprise mechanical articulated arms and/or legs placed on the structure or the person, which are considerably weighty and awkward.
  • One object of the invention is to propose an alternative to the aforementioned devices which is cheaper and less complex.
  • an autonomous system for determining items of information representative of the movement of an articulated chain comprising at least two solid elements and at least one articulation connecting said two elements, said system comprising:
  • Such a system is autonomous and does not suffer problems of optical occlusion or of visual detection of visible markers which is made difficult on the outside. Moreover, such a system has a reduced cost and its awkwardness of use is very limited.
  • At least one of said devices for measuring inter-device distances includes means for determining a distance separating the device in question from another device.
  • the measurement supplied by the device is directly a distance measurement.
  • the means for determining at least one distance separating two measuring devices are distinct from these measuring devices.
  • at least one of the two measuring devices must transmit a measurement (radio, optical, video or other signal) to the remote distance-determination means.
  • At least one of said devices for measuring inter-device distances is suitable for emitting and/or receiving data.
  • This emission/reception can be used for measuring the distance as such.
  • the distance is calculated by a mode for detecting radiofrequency pulses and for estimating time difference of arrival or TDOA or for estimating received signal strength indication or for estimating the time of arrival or TOA.
  • a distance-measuring unit may advantageously receive by radio set points of the level of accuracy to be achieved.
  • the reconstruction of the articulated chain has a conditioning which depends on the geometric configuration itself. Therefore, it is possible to adjust this level of accuracy upward in order to improve the performance of the system, or downward in order to reduce the power consumption of the system and the cost of producing the system.
  • the measurement data can be transmitted directly to a nearby mobile unit capable of containing a greater computing power than that which is on board.
  • the system also comprises at least one accelerometer and/or one gyrometer and/or one magnetometer supplying complementary measurements used by the calculation means.
  • the distance measurement is a static data item while the inertia measurement, by gyrometer or accelerometer, is a dynamic data item, i.e. using parameters of order one and two of the movement, such as the angular velocity and the acceleration. These measurements are therefore very complementary for a better reconstruction of the movement.
  • the magnetometer gives, for each point an item of inclination information relative to a fixed direction in the space, that of the earth's magnetic field.
  • the system comprises at least one optical device for measuring inter-device distances.
  • the distance supplied is more accurate than that supplied by a radiofrequency device.
  • the system comprises storage means, mounted on said articulated chain, suitable for storing said items of information representative of the movement of said articulated chain delivered by said calculation means or for directly storing said previously-determined inter-device distances.
  • the items of information can therefore be stored for subsequent exploitation of the movement, or for a real-time transmission to an external station exploiting the items of data representative of the movement, for example for display and/or analysis, or provided with calculation means making it possible to reconstruct the movement of the articulated chain, based on the inter-device distances.
  • said inter-device distance measuring devices are fixedly mounted on said solid elements of said articulated chain so that, for one articulation, the sum, for all of said inter-device distance measuring devices mounted on a solid element linked to said articulation, of the distances separating a measuring device and the articulation, is maximal.
  • said inter-device distance measuring devices are mounted on said solid elements of said articulated chain so that the distances between devices placed on one and the same solid element are maximal.
  • said articulated chain comprising at least three solid elements.
  • One solid element of said articulated chain linked to two articulations comprises an inter-device distance measuring device placed substantially in the middle of said solid element.
  • This embodiment is particularly valuable when it is desired to have a single device per solid segment in order to limit the costs.
  • the system comprises at least one inter-device distance measuring device per solid element of the articulated chain and per degree of freedom in rotation or in translation of an articulation linked to the solid element, said chain having no closed portion, said inter-device distance measuring devices are placed on the solid element so that the following relation is verified: NEQ ⁇ NVAR wherein:
  • the system comprises at least one inter-device distance measuring device per solid element of the articulated chain and per degree of freedom in rotation of an articulation linked to the solid element, said measuring devices being placed on the solid element so that the vector linking the articulation to a device is linearly independent of the vector or vectors linking the articulation to the other measuring devices.
  • the system comprises at least one solid element linked to an articulation and furnished with at least two inter-device distance measuring devices, said measuring devices being placed on said solid element so that they avoid forming a straight line with the articulation.
  • the system comprises at least one solid element linked to an articulation and furnished with at least three inter-device distance measuring devices, said measuring devices being placed on said solid element so that they avoid forming a plane with the articulation.
  • this gives a configuration that can operate irrespective of the number of degrees of freedom of the articulations, and notably when articulations of the system have three degrees of freedom in rotation.
  • said inter-device distance measuring devices comprise a measurable maximal threshold distance.
  • the system also comprises transmission means mounted on said articulated chain in order to transmit items of information representative of the movement of said articulated chain or of the inter-device distances stored in said storage means.
  • said inter-device distance measuring devices and/or said calculation means, and/or said storage means, and/or said transmission means are suitable for operating on a living body considered to be said articulated chain.
  • the invention can be applied to a human or animal body.
  • a method for determining items of information representative of the movement of an articulated chain comprising at least two solid elements and at least one articulation linking said two elements, the method comprising the following steps:
  • FIG. 1 illustrates schematically one embodiment of a system according to one aspect of the invention
  • FIG. 1 a illustrates schematically another embodiment of a system according to one aspect of the invention
  • FIG. 2 illustrates schematically another embodiment according to one aspect of the invention
  • FIG. 3 illustrates schematically another embodiment according to one aspect of the invention.
  • FIGS. 4 a , 4 b and 4 c illustrate schematically the reconstruction of the movement of an articulated chain according to one aspect of the invention.
  • FIG. 1 shows a first articulated chain CA_ 1 furnished with an autonomous system for determining items of information representative of the movement of the articulated chain CA_ 1 , according to one aspect of the invention.
  • the first articulated chain CA_ 1 comprises two solid elements, in this instance solid segments ES 1 _ 1 and ES 2 _ 1 , and a first articulation ART 1 _ 1 with one degree of freedom.
  • the solid elements of the articulated chain may be of any shape.
  • the first solid element ES 1 _ 1 comprises a first device DISP 1 _ 1 for measuring inter-device distances
  • the second solid element ES 2 _ 1 comprises a second device DISP 2 _ 1 for measuring inter-device distances.
  • the system makes it possible to determine the distance d 12 _ 1 separating the first and second devices DISP 1 _ 1 and DISP 2 _ 1 .
  • the devices DISP 1 _ 1 and DISP 2 _ 1 may, for example, use contactless principles for determining distance, of the radio pulse or echo radar type, or by reception and calculation of the distance based on the propagation time, on the received strength, or by Doppler effect, of infrared, video or electromagnetic types.
  • This distance d 12 _ 1 is delivered by one of the two, or both devices DISP 1 _ 1 and DISP 2 _ 1 , for example by wireless transmission, to a calculation module CALC placed on the first articulated chain CA_ 1 .
  • the calculation module CALC is capable of calculating items of information representative of the movement of the first articulated chain CA_ 1 , based on the measurements transmitted by the inter-device distance measuring devices DISP 1 _ 1 and DISP 2 _ 1 . These items of information may be distances separating all or a judiciously selected portion of the inter-device distances, or calculated items of information representing states of movement of the articulated chain.
  • one of the two devices may be an emitter and the other a receiver linked to or comprising the calculation module.
  • Each device may be either passive or active.
  • the emitter device is active and the other device consisting only of a reflector is passive.
  • These items of information can be stored in a storage module MEM and transmitted by a transmission module TR, either substantially in real time, or after the end of a movement of the first articulated chain CA_ 1 , for example to an external electronic control unit capable, based on these items of information, of reconstructing or determining the movement of the first articulated chain CA_ 1 .
  • the post-processing carried out may incorporate a model making it possible to detect the placement of the feet and therefore the overall movement of a person or of a humanoid robot who or which walks or runs.
  • the system can be used in combination with a system making it possible to define the position of a point of the articulated chain.
  • the two devices DISP 1 _ 1 and DISP 2 _ 1 are placed so that the sum, for all of the devices DISP 1 _ 1 and DISP 2 _ 1 , of the distances separating a device DISP 1 _ 1 , DISP 2 _ 1 from the articulation ART 1 _ 1 linked to the solid element ES 1 _ 1 , ES 2 _ 1 on which the device DISP 1 _ 1 , DISP 2 _ 1 is mounted, is maximal.
  • the calculation module CALC, and/or the storage module MEM, and/or the transmission module TR may be joined to or incorporated in the inter-device distance measuring device DISP 1 _ 1 .
  • an articulated chain comprises two solid elements, in this instance solid segments ES 1 _ 1 a and ES 2 _ 1 a, and a first articulation ART 1 _ 1 a with one degree of freedom.
  • the calculation module CALC, storage module MEM and transmission module TR are identical and therefore referenced in the same way.
  • the two devices DISP 1 _ 1 a and DISP 2 _ 1 a are placed close to the articulation ART_ 1 a.
  • the error in the distance d 12 _ 1 a of FIG. 1 a is the same as that in the distance d 12 _ 1 of FIG. 1 .
  • this error with the same value in the distances d 12 _ 1 a of FIG. 1 a and d 12 _ 1 of FIG. 1 implies a greater corresponding angular error in the case of FIG. 1 a, because the devices DISP 1 _ 1 a and DISP 2 _ 1 a are placed close to the articulation ART_ 1 a, in comparison with the corresponding angular error in the case of FIG. 1 .
  • an articulation of the human body such as a knee or an elbow, is considered to be an articulation with one degree of freedom, and more rarely as an articulation with 2 degrees of freedom.
  • FIG. 2 shows a second articulated chain CA_ 2 furnished with an autonomous system for determining items of information representative of the movement of the articulated chain CA_ 2 , according to one aspect of the invention.
  • the second articulated chain CA_ 2 comprises three solid elements, in this instance solid segments ES 1 _ 2 , ES 2 _ 2 and ES 3 _ 2 , and a first articulation ART 1 _ 2 and a second articulation ART 2 _ 2 with one degree of freedom.
  • the solid elements of the articulated chain may be of any shape.
  • the first solid element ES 1 _ 2 comprises a first inter-device distance measuring device DISP 1 _ 2
  • the second solid element ES 2 _ 2 comprises a second inter-device distance measuring device DISP 2 _ 2
  • the third solid element ES 3 _ 2 comprises a third inter-device distance measuring device DISP 3 _ 2 .
  • the system makes it possible to determine the distances d 12 _ 2 , d 13 _ 2 and d 23 _ 2 separating respectively the first and second devices DISP 1 _ 2 and DISP 2 _ 2 , the first and third devices DISP 1 _ 2 and DISP 3 _ 2 , and the second and third devices DISP 2 _ 2 and DISP 3 _ 2 .
  • These distances d 12 _ 2 , d 13 _ 2 and d 23 _ 2 are delivered by one of the two or by both, for example by wireless transmission, to a calculation module CALC that may be placed on the second articulated chain CA_ 2 .
  • the calculation module CALC is capable of calculating items of information representative of the movement of the second articulated chain CA_ 2 , based on measurements transmitted by the inter-device distance measuring devices DISP 1 _ 2 , DISP 2 _ 2 and DISP 3 _ 2 .
  • These items of information can be stored in a storage module MEM and transmitted by a transmission module TR, either substantially in real time, or after the end of a movement of the second articulated chain CA_ 2 , for example to an external electronic control unit capable, based on these items of information, of reconstructing or determining the movement of the second articulated chain CA_ 2 .
  • the post-processing carried out can incorporate a model making it possible to detect the placement of the feet and therefore the overall movement of a person or of a humanoid robot who or which walks or runs.
  • the three devices DISP 1 _ 2 , DISP 2 _ 2 and DISP 3 _ 2 are placed so that the sum, for all of the devices DISP 1 _ 2 , DISP 2 _ 2 and DISP 3 _ 2 , of the distances separating a device DISP 1 _ 2 , DISP 2 _ 2 , DISP 3 _ 2 of the articulation or of the articulations ART 1 _ 2 , ART 2 _ 2 linked to the solid element ES 1 _ 2 , ES 2 _ 2 , ES 3 _ 2 on which the device DISP 1 _ 2 , DISP 2 _ 2 , DISP 3 _ 2 is mounted, is maximal.
  • FIG. 3 shows an embodiment of a system according to one aspect of the invention, in which a third articulated chain CA_ 3 comprises four solid elements ES 1 _ 3 , ES 2 _ 3 , ES 3 _ 3 and ES 4 _ 3 , linked in this order via articulations ART 1 _ 3 , ART 2 _ 3 and ART 3 _ 3 with one degree of freedom.
  • the solid elements of the articulated chain may be of any shape.
  • the first solid element ES 1 _ 3 comprises a first measuring device DISP 1 _ 3
  • the second solid element ES 2 _ 3 comprises a second inter-device distance measuring device DISP 2 _ 3
  • the third solid element ES 3 _ 3 comprises a third inter-device distance measuring device DISP 3 _ 3
  • the fourth solid element ES 4 _ 3 comprises a fourth inter-device distance measuring device DISP 4 _ 3 .
  • the system makes it possible to determine the distances d 12 _ 3 , d 13 _ 3 , d 14 _ 3 , d 23 _ 3 , d 24 _ 3 and d 34 _ 3 separating respectively the first and second devices DISP 1 _ 3 and DISP 2 _ 3 , the first and third devices DISP 1 _ 3 and DISP 3 _ 3 , the first and fourth devices DISP 1 _ 3 and DISP 4 _ 3 , the second and third devices DISP 2 _ 3 and DISP 3 _ 3 , the second and fourth devices DISP 2 _ 3 and DISP 4 _ 3 , and the third and fourth devices DISP 3 _ 3 and DISP 4 _ 3 .
  • These distances d 12 _ 3 , d 13 _ 3 , d 14 _ 3 , d 23 _ 3 , d 24 _ 3 and d 34 _ 3 are delivered by one of the two or both devices concerned, for example by wireless transmission, to a calculation module CALC placed on the third articulated chain CA_ 3 .
  • the calculation module CALC is capable of calculating items of information representative of the movement of the third articulated chain CA_ 3 , based on the measurements transmitted by the inter-device distance measuring devices DISP 1 _ 3 , DISP 2 _ 3 , DISP 3 _ 3 and DISP 4 _ 3 .
  • these items of information can be stored in a storage module MEM and transmitted by a transmission module TR, either substantially in real time, or after the end of a movement of the third articulated chain CA_ 3 , for example to an external electronic control unit capable, based on these items of information, of reconstructing or determining the movement of the third articulated chain CA_ 3 .
  • the post-processing carried out may incorporate a model making it possible to detect the placement of the feet and therefore the overall movement of a person or of a humanoid robot who or which walks or runs.
  • the four devices DISP 1 _ 3 , DISP 2 _ 3 , DISP 3 _ 3 and DISP 4 _ 3 are respectively placed substantially in the middle of the solid elements ES 1 _ 3 , ES 2 _ 3 , ES 3 _ 3 and ES 4 _ 3 .
  • the devices DISP 1 _ 3 and DISP 4 _ 3 can be placed at the distal ends of the articulations ART 1 _ 3 and ART 3 _ 3 .
  • the distance separating two inter-device distance measuring devices can be determined by distance-determination means distinct from the measuring devices. These distance-determination means then use measurements supplied by at least one of the measuring devices. These distance-determination means can therefore be remote from the measuring devices. These distance-determination means can be placed on the articulated chain or at a distance from the latter.
  • an articulated chain comprising at least one measuring device per solid element of the articulated chain and per degree of freedom in rotation of an articulation linked to the solid element
  • said measuring devices are placed on the solid element so that the vector linking the articulation to a device is linearly independent of the vector or vectors linking the articulation to the other measuring devices.
  • an articulation has not only up to three degrees of freedom in rotation, but also up to three degrees of freedom in translation.
  • the measuring devices are placed on the solid element so that the following relation is verified: NEQ ⁇ NVAR
  • NEQ the number NVAR of variables of positions to be determined
  • the number of degrees of freedom of an articulation ranges from one to six, i.e. up to three in rotation and three in translation.
  • NEQ NVAR
  • FIG. 4 a illustrates distances measured or determined based on measurements supplied by inter-device distance measuring devices placed on a human or a humanoid robot.
  • FIG. 4 b illustrates the items of information calculated by the calculation module CALC which are used by the external electronic control unit, or in other embodiments directly by the calculation module CALC, to use with a Kalman filter, an optimization or a neural network, to reconstruct the movement of the articulated chain.
  • the states defining the posture or the placement of the articulated chain are advantageously the coordinates defining the rotation of the articulation, such as the Euler, cardan angles or the quaternions.
  • the inversion of each matrix M can use knowledge concerning the number of degrees of freedom of each articulation, and concerning the articular abutments such as the angle of the elbow varies by only 180°. That can help the inversion, for example by accelerating the convergence or by making it possible to minimize the number of sensors.
  • the states defining a posture can be the positions of the devices or of certain particular points of the solid elements (but then the knowledge of the articulated structure is not necessarily used). In this case, these positions are estimated based on the distances, for example by triangulation. Based on these estimated positions, the overall posture of the articulated chain is then determined, for example by taking account of knowledge concerning the number of degrees of freedom and the articular abutments.
  • FIG. 4 c illustrates the reconstruction of the movement, displayed virtually by means of a graphic representation in which the body, considered to be an articulated chain, is divided into a set of solid elements articulated relative to one another.
  • All of the solid elements can, for example, be represented as shown in FIG. 4 c, as a head TE, a neck C, a set of trunk elements T 1 , T 2 , T 3 , a set of left arm elements BG 1 , BG 2 , BG 3 , BG 4 , a set of right arm elements BD 1 , BD 2 , BD 3 , BD 4 , a set of left leg elements JG 1 , JG 2 , LG 3 , JG 4 , JG 5 , and a set of right leg elements JD 1 , JD 2 , JD 3 , JD 4 , JD 5 .
  • the external electronic control unit can, based on the items of information supplied by the calculation module CALC, reconstruct and simulate visually the movement of the articulated chain, by deducing the angles between the various solid elements of the articulated chain.
  • the shoulder, as well as the hip is often considered to be an articulation with three degrees of freedom
  • the elbow, as well as the knee to be an articulation with one degree of freedom.
  • the present invention makes it possible, at reduced cost, to propose an autonomous system for determining items of information representative of the movement of an articulated chain.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Therapy (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
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  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
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US13/001,358 2008-06-27 2009-06-24 Autonomous system and method for determining information representative of the movement of an articulated chain Active 2031-04-12 US9021712B2 (en)

Applications Claiming Priority (3)

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FR0803635 2008-06-27
FR0803635A FR2933185B1 (fr) 2008-06-27 2008-06-27 Systeme et procede de determination d'informations representatives du mouvement d'une chaine articulee
PCT/EP2009/057930 WO2010003824A2 (fr) 2008-06-27 2009-06-24 Système et procède autonome de détermination d'informations représentatives du mouvement d'une chaîne articulée

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EP (1) EP2303522B1 (zh)
JP (1) JP5807290B2 (zh)
KR (1) KR101666232B1 (zh)
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US20140316545A1 (en) * 2008-03-25 2014-10-23 Orthosoft, Inc. Method and system for planning/guiding alterations to a bone
US10203204B2 (en) * 2014-07-17 2019-02-12 Pioneer Corporation Rotation angle detection device
US11224443B2 (en) 2008-03-25 2022-01-18 Orthosoft Ulc Method and system for planning/guiding alterations to a bone

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Publication number Priority date Publication date Assignee Title
FR2933185B1 (fr) * 2008-06-27 2017-07-21 Movea Sa Systeme et procede de determination d'informations representatives du mouvement d'une chaine articulee
FR2972344B1 (fr) 2011-03-07 2014-01-31 Lape Medical Dispositif de surveillance d'une prothese medicale et du corps humain
FR3000376B1 (fr) * 2013-01-02 2015-02-20 Movea Procede d'estimation de mouvement d'un objet massique poly-articule
KR101629461B1 (ko) * 2015-05-19 2016-06-10 주식회사 피앤에스미캐닉스 마스터암을 이용한 관절각 측정장치 및 이를 포함하는 관절 보조기
CN109945889B (zh) * 2019-04-17 2023-07-25 合肥工业大学 一种基于双姿态传感器的关节角度测量方法
CN115195904B (zh) * 2022-08-29 2024-01-23 北京交通大学 一种单动力高平顺闭链腿机构机器人

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